Ocean Engineering最新文献_第5页

Parametric SPH study on resonant sloshing-structure interaction: coupled effects of water depth and baffle configuration on hydrodynamic loads in rectangular tanks 共振晃动-结构相互作用的参数SPH研究：水深和挡板构型对矩形水箱水动力载荷的耦合影响

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-01-29 DOI: 10.1016/j.oceaneng.2026.124403

Tianze Lu, Cong Wang, Deping Cao

This study presents a parametric SPH investigation into resonant sloshing-structure interaction in rectangular tanks, focusing on coupled effects of water depth and baffle configuration on hydrodynamic loads. A systematic simulation matrix was executed, encompassing variations in baffle quantity, relative height, and filling depth under first-mode resonance excitation. The results reveal two distinct hydrodynamic regimes governed by the relative submergence ratio. For emergent baffles, compartmentalizing the tank effectively suppresses sloshing, drastically reduces wall impact pressures, and yields a monotonic force reduction with increasing baffle count. In contrast, deeply submerged baffles induce a vortex-dominated regime with a non-uniform load distribution. Within this regime, a critical transition occurs at a specific baffle count, leading to a localized force increase on the central baffle due to concentrated vortex shedding. Furthermore, a critical filling depth generating peak wall pressures was identified for unbaffled tanks, which shifts with baffle installation. The study establishes that the relative submergence ratio, in conjunction with the baffle count, governs the sloshing suppression efficiency and baffle load dynamics. Specifically, the baffle count dictates the spatial distribution of hydrodynamic loads, while the relative submergence ratio determines the fundamental operating regime, characterized as either confinement-dominated or vortex-dominated, that defines the system's response.

本文采用参数化SPH方法研究了矩形水箱的振动-结构相互作用，重点研究了水深和挡板构型对水动力载荷的耦合影响。系统的仿真矩阵包含了在一模共振激励下挡板数量、相对高度和填充深度的变化。结果揭示了两种不同的由相对淹没比控制的水动力状态。对于紧急挡板，将油箱分隔有效地抑制晃动，大幅降低壁面冲击压力，并随着挡板数量的增加而产生单调力降低。与此相反，深度浸没在水下的折流板则会导致涡流主导的非均匀载荷分布。在此范围内，在特定挡板数处发生临界转变，导致中央挡板由于集中的涡流脱落而局部力增加。此外，确定了无挡板罐产生峰值壁压的临界填充深度，该深度随挡板安装而变化。研究表明，相对淹没比与挡板数共同决定了晃动抑制效率和挡板载荷动态。具体来说，挡板数决定了水动力载荷的空间分布，而相对淹没比决定了基本的运行状态，其特征是禁闭主导或涡主导，从而定义了系统的响应。

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引用次数: 0

Bearing behavior and damage mechanisms of GFRP micro uplift piles in coastal areas: Field tests and numerical simulations 沿海地区GFRP微抗拔桩承载性能及损伤机理：现场试验与数值模拟

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-01-29 DOI: 10.1016/j.oceaneng.2026.124452

Xiaoyu Bai , Haoran Ma , Yingjie Zhang , Junwei Liu , Zekun Wu , Nan Yan

Coastal underground engineering faces increasing challenges from groundwater buoyancy and corrosive environments. To investigate the bearing performance and load transfer mechanism of Glass Fiber Reinforced Polymer bar micro uplift pile (GFRP-MUP), field pull-out test of GFRP-MUP was conducted in this study. Based on the field test, numerical simulations were also employed to reveal the damaged evolution characteristics of the anchorage body. Field test results show that the bearing capacity of GFRP-MUP increases significantly, approximately 1.7 times that of a Steel-Bar micro uplift pile (SB-MUP) of the same specification, meeting the requirements for pull-out bearing capacity. Under ultimate load, the axial force of GFRP-MUP can be transferred to a depth of up to 3.0 m, and the shear stress at the rod-mortar interface reaches 5.06 MPa, indicating effective bonding performance. Numerical simulations further show that damage in the GFRP-MUP anchorage body ceases at a depth of approximately 2.5 m, the critical anchorage length for GFRP-MUP is approximately 3.5 m. Compared with conventional SB-MUP, it is recommended to use anchorage bodies with larger diameter and shorter length to control the overall displacement of GFRP-MUP and reduce material waste.

沿海地下工程面临着地下水浮力和腐蚀环境日益严峻的挑战。为研究玻璃纤维增强聚合物棒微拔桩（GFRP-MUP）的承载性能及荷载传递机理，本研究对GFRP-MUP进行了现场拔桩试验。在现场试验的基础上，通过数值模拟揭示了锚固体的损伤演化特征。现场试验结果表明，GFRP-MUP的承载力显著提高，约为同规格钢筋微拔桩（SB-MUP）承载力的1.7倍，满足拉拔承载力要求。在极限荷载作用下，GFRP-MUP的轴力传递深度可达3.0 m，杆砂浆界面处的剪应力达到5.06 MPa，显示出有效的粘结性能。数值模拟进一步表明，GFRP-MUP锚固体的损伤在深度约2.5 m处停止，GFRP-MUP的临界锚固长度约为3.5 m。与常规SB-MUP相比，建议采用直径更大、长度更短的锚固体，以控制GFRP-MUP的整体位移，减少材料浪费。

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引用次数: 0

Wave interference characteristics of high-speed catamaran formations under various configurations 不同构型下高速双体船编队的波干涉特性

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-01-29 DOI: 10.1016/j.oceaneng.2026.124355

Bo Jiang , Wei Wang , Binfeng Mao , Shengren Wei , Jiuyang Cang , Zhifan Zhang , Guiyong Zhang

This study investigates the energy-saving and resistance-reduction potential of high-speed catamaran formations, as well as their hydrodynamic performance. It elucidates the hydrodynamic interaction mechanisms between catamarans due to the unique wake field created by the separation of the leading catamaran. Initially, grid convergence analysis was conducted to validate the grid discretization method, followed by numerical-experimental comparisons to verify the accuracy of the numerical approach. A hydrodynamic performance prediction model was developed for three-catamaran formations (irregular tandem, general triangle, and right-angled triangle), to examine the effects of formation layout on resistance and motion responses of both the formation and individual catamarans. The influence of layout asymmetry on fluid dynamic accumulation, wave interference, and phase matching was quantified. The results indicate that within the longitudinal spacing range of ST = 0.75L–1.25L, wave interference leads to destructive wave cancellation, resulting in a maximum resistance reduction of up to 31.8 %, with the tandem formation showing the most favorable performance. Additionally, changes in the catamaran's attitude significantly impact drag variations. These findings provide a basis for fully leveraging the unique configuration and formation advantages of catamarans.

本文研究了高速双体船地层的节能和减阻潜力，以及它们的水动力性能。阐明了双体间的水动力相互作用机制，这是由于双体间的分离产生了独特的尾流场。首先通过网格收敛分析验证了网格离散化方法的有效性，然后通过数值-实验对比验证了数值方法的准确性。建立了三个双体船（不规则串联、一般三角形和直角三角形）的水动力性能预测模型，研究了地层布局对地层和单个双体船阻力和运动响应的影响。量化了布局不对称对流体动力积累、波干涉和相位匹配的影响。结果表明，在ST = 0.75L-1.25L的纵向间距范围内，波干涉导致破坏性波抵消，最大阻力降低达31.8%，串列地层表现出最好的效果。此外，双体船的姿态变化显著影响阻力变化。这些发现为充分利用双体船独特的结构和编队优势提供了基础。

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引用次数: 0

Bidirectionally coupled sloshing of a flow-through aquaculture vessel with side openings in waves 波浪中具有侧开口的水产养殖船的双向耦合晃动

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-01-29 DOI: 10.1016/j.oceaneng.2026.124287

Chenguang Bai, Jianing Zhang, Zekun Peng, Changzhi Zhao, Lei Zhang

This study investigates bidirectional coupling between hull motions and tank sloshing in the 90 m flow-through aquaculture vessel “Minde”. Using a Computational Fluid Dynamics (CFD) approach validated by model experiments, this study analyzes coupled heave and pitch as well as internal sloshing. Side openings reduce displacement and moments of inertia and thus attenuate pitch and heave. With increasing wavelength, pitch increases, heave peaks at mid wavelength, and the dominant sloshing frequency decreases. The first tank, farther from the center of gravity, is pitch dominated with larger free surface amplitudes and faster response, while the second is heave dominated and develops higher bulkhead pressures. Vortices form near the side shell openings, move toward the tank center, re-enter with flow direction change, and accelerate the inflow. Increasing wave height amplifies vessel motions and tank sloshing. In the first tank, side shell pressure shows a double-peak and decreases with wave height, whereas transverse bulkhead pressure increases.Inflow velocity rises with wave height and is higher in the first tank. This study systematically reveals the bidirectional coupling mechanism of flow-through aquaculture vessels under different wave parameters.

本研究研究了90米通流养殖船“民德”号船体运动和水箱晃动之间的双向耦合。本文采用计算流体动力学（CFD）方法，通过模型试验验证了该方法的有效性。侧面开口减少位移和惯性矩，从而减弱俯仰和升沉。随着波长的增加，纵摇增大，起伏在中波长处达到峰值，主导晃动频率减小。第一个燃料箱距离重心较远，以俯仰为主，自由面振幅较大，响应速度较快；第二个燃料箱以升沉为主，舱壁压力较高。在侧壳口附近形成涡流，向罐体中心移动，随着气流方向的改变重新进入，加速流入。波浪高度的增加放大了船只的运动和储罐的晃动。在第一舱中，侧壳压力呈双峰型，且随波高的增加而减小，而横向舱壁压力则增加。入流速度随波高的增加而增加，在第一个槽内流速较大。本研究系统揭示了不同波浪参数下水产养殖船的双向耦合机理。

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引用次数: 0

Soft soil deformation and erosion in riser touchdown zone: insights from T-bar penetration tests 立管触地区软土变形与侵蚀：来自t形杆贯入试验的见解

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-01-29 DOI: 10.1016/j.oceaneng.2026.124371

Shengjie Rui , Hans Petter Jostad , Lizhong Wang , Xi Chen , Zefeng Zhou

Soft soil deformation and erosion induced by riser motion strongly influence seabed trench development near the touchdown zone, with consequences for pipeline fatigue damage. Although previous studies highlight the influence of riser motion and clay softening, the detailed trenching mechanisms remain insufficiently understood. To address these gaps, this study directly visualizes trench development using camera-based monitoring, identifies the sequential mechanisms of trench formation, and reveals the critical contribution of soil cutting beneath a moving riser. In this paper, a series of T-bar penetration tests were conducted to investigate clay deformation and erosion representative of the riser touchdown zone. Undrained shear strength, cyclic amplitude and initial position were varied, and deformation and erosion were recorded in real time. The potential mechanisms of trench formation arising from pipeline–seabed interaction were then synthesised. Results indicate four deformation regimes, classified by penetration depth and motion amplitude, progressing from negligible flowback at shallow penetration to pronounced flowback, cutting and adhesion as depth increases, each strongly affecting erosion. Clay erosion occurs through two primary mechanisms: water-replacement erosion and moving-structure erosion. In the former, high local velocities generated as the T-bar approaches the clay surface entrain fines and strip surficial material, whereas in the latter, cutting produces adherent clay that is subsequently ablated by relative water–structure motion.

立管运动引起的软土变形和侵蚀强烈影响着陆区附近海底沟槽的发育，造成管道疲劳损伤。尽管先前的研究强调了隔水管运动和粘土软化的影响，但对沟槽形成的详细机制仍然知之甚少。为了解决这些问题，本研究使用基于摄像头的监测直接可视化了沟槽的发展，确定了沟槽形成的顺序机制，并揭示了移动立管下土壤切割的关键贡献。本文通过一系列t形杆侵彻试验，研究了隔水管触地区粘土的变形和侵蚀。改变不排水抗剪强度、循环幅值和初始位置，实时记录变形和侵蚀。然后综合了管道-海底相互作用引起海沟形成的潜在机制。结果表明，根据侵彻深度和运动幅度划分，有四种变形模式，从浅侵彻时可以忽略的返排到随着侵彻深度增加而明显的返排、切割和粘附，每一种都对侵蚀产生强烈影响。粘土侵蚀主要通过两种机制发生：水置换侵蚀和移动构造侵蚀。在前一种情况下，当t杆接近粘土表面时产生的高局部速度会夹带细粒和条状表面物质，而在后一种情况下，切割产生粘附粘土，随后被相对水结构运动烧蚀。

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引用次数: 0

Structural analysis and operational implications of a dry dock separator 干船坞分离器的结构分析及使用意义

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-01-29 DOI: 10.1016/j.oceaneng.2026.124345

Burcu Ozselek, Erinc Dobrucali, Yunus Onur Yildiz

Dry docking operations play a critical role in shipyards, where timely repairs are essential due to high freight rates. Therefore, the efficient utilization and capacity enhancement of dry docks are vital for maximizing operational productivity and economic returns. This study examines the structural feasibility and operational benefits of incorporating a modular steel separator into a dry dock to accommodate multiple vessels simultaneously. Finite Element Method (FEM) analysis was conducted using ANSYS Workbench to evaluate the mechanical behavior of four steel beam cross-sections under hydrostatic pressure. Among the tested profiles, the rectangular tube demonstrated the most efficient load-bearing performance, with acceptable stress and deformation values across all cases. Beyond structural integrity, the separator offers notable gains in operational efficiency. Energy saving is changing between 25 % and 60 % per year from the discharging process when graving docks can service multiple vessels simultaneously. Economic analysis demonstrates that under conservative assumptions (5 % capacity increase), the system achieves payback within 5 years, while moderate utilization scenarios (50 % capacity increase) yield payback in approximately 6 months. These findings provide a foundational basis for future studies involving 3D modeling of separator and real implementation of modular dry dock systems in shipyards.

干船坞作业在造船厂中起着至关重要的作用，由于运费高，及时维修是必不可少的。因此，干船坞的高效利用和产能提升对于实现运营效率和经济效益的最大化至关重要。本研究考察了将模块化钢分离器并入干船坞以同时容纳多艘船舶的结构可行性和操作效益。利用ANSYS Workbench对4个钢梁截面在静水压力作用下的受力性能进行了有限元分析。在测试的型材中，矩形管表现出最有效的承载性能，在所有情况下都具有可接受的应力和变形值。除了结构完整性之外，该分离器还显著提高了操作效率。当雕刻码头可以同时服务多艘船时，每年从卸货过程中节省的能源在25%到60%之间。经济分析表明，在保守的假设下（产能增加5%），系统在5年内实现投资回报，而适度利用的情况下（产能增加50%），大约在6个月内实现投资回报。这些研究结果为今后分离器的三维建模和模块化干船坞系统在船厂的实际实施提供了基础。

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引用次数: 0

Surface spalling segmentation algorithm of underwater concrete structures based on sonar images: Auxiliary loss and dynamic training 基于声纳图像的水下混凝土结构表面剥落分割算法：辅助损失和动态训练

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-01-29 DOI: 10.1016/j.oceaneng.2026.124418

Hao Jin , Liming Wang , Wang Gao , Fanghong Huang , Yang Wang

Traditional surface spalling detection for underwater concrete structures, which typically relies on manual surveying or optical visualization, is inefficient, dangerous, and susceptible to environmental influences. While deep learning-based sonar image segmentation methods, as an alternative, have been explored, the low contrast and complex background of sonar images typically bring about spatial redundancy, limiting segmentation performance. With the purpose of addressing this issue, a spatial redundancy auxiliary loss function (SRA Loss) combined with a dynamic loss training strategy (DLTS) is proposed in this study to suppress redundant feature representations and enhance feature diversity. Experiments on the independently constructed SonarS560 dataset demonstrate that this method effectively improves segmentation accuracy, guiding automated inspection and intelligent maintenance of underwater concrete structures in ocean engineering.

传统的水下混凝土结构表面剥落检测通常依赖于人工测量或光学可视化，效率低、危险且易受环境影响。虽然基于深度学习的声纳图像分割方法已经被探索，但声纳图像的低对比度和复杂背景通常会带来空间冗余，从而限制了分割性能。为了解决这一问题，本文提出了一种空间冗余辅助损失函数（SRA loss）与动态损失训练策略（DLTS）相结合的方法来抑制冗余特征表示，增强特征多样性。在自主构建的SonarS560数据集上进行的实验表明，该方法有效地提高了分割精度，为海洋工程水下混凝土结构的自动检测和智能维护提供了指导。

引用次数: 0

Hydrodynamics-based geometric optimisation and parametric analysis of a wing-type floating breakwater 基于水动力的翼式浮式防波堤几何优化与参数分析

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-01-29 DOI: 10.1016/j.oceaneng.2026.124422

Zihan Liu , Zhiyu Jiang , Lorenzo Cappietti

The wave attenuation performance of floating breakwaters (FBs) is usually limited under long wave conditions. This study investigated wing-type FBs in a two-dimensional wave flume, using the Smoothed Particle Hydrodynamics (SPH) method, which was validated against previous experiments. To minimise the cross-sectional area (Area) while ensuring effective wave attenuation (with transmission coefficient k_t < 0.20) of a wing-type FB, the geometric parameters, including FB width (W_FB) and draft (D_FB), as well as wing height (H_wing), width (W_wing), and angle (A_wing), were optimised under the selected extreme wave condition. A Support Vector Regression (SVR)-trained surrogate model was used to predict k_t for wing-type FBs, and a genetic algorithm (GA) was applied to identify the optimal solutions. The effects of geometric parameters and wave conditions on the hydrodynamic responses of wing-type FBs were analysed. The results showed that, compared with the initially designed wing-type FB, the optimal solution reduced the Area by 20 %, increased W_FB by 15 %, and decreased D_FB by 47 %. As A_wing and H_wing/L_w (L_w is wavelength) increased, k_t decreased and then increased, with the minimum values occurring when A_wing was between 20° and 40° and H_wing/L_w was between 0.02 and 0.03. Increasing W_wing, D_FB, or W_FB reduced k_t. For incident wave periods T ≥ 0.9 s, the optimised wing-type FB showed improved wave attenuation compared with the box-type FB; for T < 1.1 s, k_t of the wing-type FB was less than 0.60. This study offers a useful reference for the design of FBs in offshore environments.

在长波条件下，浮式防波堤的减波性能通常受到限制。采用光滑颗粒流体力学（SPH）方法对二维波浪水槽中的翼型FBs进行了研究，并与先前的实验进行了验证。为了最小化机翼型FB的横截面积（area），同时确保有效的波衰减（透射系数kt <； 0.20），在选定的极端波浪条件下，优化了几何参数，包括FB宽度（WFB）和牵引力（DFB），以及机翼高度（Hwing）、宽度（Wwing）和角度（Awing）。采用支持向量回归（SVR）训练的代理模型预测翼型FBs的kt，并采用遗传算法（GA）识别最优解。分析了几何参数和波浪条件对翼型气动隔板水动力响应的影响。结果表明，与最初设计的翼型FB相比，优化后的方案面积减小了20%，WFB增大了15%，DFB减小了47%。随着倾角和Hwing/Lw （Lw为波长）的增大，kt先减小后增大，在倾角为20°~ 40°、Hwing/Lw为0.02 ~ 0.03时最小。增加Wwing， DFB或WFB降低kt。当入射波周期T≥0.9 s时，优化后的翼型FB比箱型FB具有更好的波衰减效果；对于T <； 1.1 s，翼型FB的kt小于0.60。本文的研究为海上环境下浮台的设计提供了有益的参考。

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引用次数: 0

An analytical solution and its data-driven applicability domain for oscillating submerged horizontal plate breakwaters 振动淹没式水平板防波堤的解析解及其数据驱动的适用范围

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-01-29 DOI: 10.1016/j.oceaneng.2026.124367

Hanqi Zeng , Hao Chen , Junwei Ye , Deping Cao

Oscillating submerged horizontal plate breakwaters (OSHPBs) offer enhanced wave attenuation compared to fixed structures, yet their analysis remains computationally intensive. This study addresses this limitation by developing a novel analytical framework that extends classical wave–fixed plate theory to incorporate prescribed oscillatory motion. Using matched eigenfunction expansion, an efficient analytical solution is derived to resolve wave-plate coupling. Validation is performed with a high-fidelity OpenFOAM model, showing excellent agreement while circumventing experimental challenges. A key advance is the establishment of an empirical relation linking geometric porosity to an equivalent porous parameter, thereby improving physical fidelity. To systematically evaluate accuracy across a high-dimensional parameter space, a Random Forest model is trained on 235 numerical cases and assessed via Mean Absolute Percentage Deviation (MAPD). Results indicate that dimensionless wave parameters (k_dd₀ or kh) and amplitude-to-depth ratio (A_p/d₀) dominate error, with MAPD < 20 % achieved when k_dd₀ < 1.8 or kh < 3.4, and A_p/d₀ < 0.15. Within this validated range, the analytical solution provides a computationally efficient, physically informed tool for OSHPB design.

与固定结构相比，振荡水下水平板防波堤（OSHPBs）提供了增强的波浪衰减，但它们的分析仍然需要大量的计算。本研究通过开发一种新的分析框架来解决这一限制，该框架扩展了经典的波固定板理论，以纳入规定的振荡运动。利用匹配特征函数展开，导出了求解波片耦合的有效解析解。使用高保真的OpenFOAM模型进行验证，在规避实验挑战的同时显示出出色的一致性。一个关键的进步是建立了一个经验关系，将几何孔隙度与等效孔隙参数联系起来，从而提高了物理保真度。为了系统地评估高维参数空间的准确性，随机森林模型在235个数值案例上进行了训练，并通过平均绝对百分比偏差（MAPD）进行了评估。结果表明，无量纲波参数（kdd0或kh）和幅深比（Ap/d0）主导误差，当kdd0 <； 1.8或kh <； 3.4, Ap/d0 <； 0.15时，MAPD < 20%。在此验证范围内，分析解决方案为OSHPB设计提供了计算效率高、物理信息灵通的工具。

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引用次数: 0

EKF-based adaptive integral MPC for depth control of an AUV under uncertainties and constraints 基于ekf自适应积分MPC的不确定约束下水下机器人深度控制

IF 5.5 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2026-01-28 DOI: 10.1016/j.oceaneng.2026.124305

Haoruo Chai , Tiedong Zhang , Xun Yan

This study presents an extended Kalman filter (EKF)-based adaptive integral model predictive control (MPC) strategy for the depth regulation of an autonomous underwater vehicle (AUV) equipped with a moving mass control (MMC) system. The EKF is employed to enable real-time estimation of uncertain system parameters under measurement noise, thereby ensuring continuous online model adaptation. To compensate for steady-state errors caused by the angle of attack, an integral action is explicitly embedded within the MPC framework, which allows for systematic tuning of the integral gain as well as the incorporation of anti-windup strategies. Furthermore, a novel adaptive anti-windup mechanism is proposed to suppress excessive integral accumulation while preserving continuous integral dynamics, thereby improving control smoothness and robustness in the presence of actuator saturation and hysteresis. The closed-loop stability of the proposed controller is rigorously analyzed and theoretically guaranteed. Comprehensive simulation and experimental results demonstrate the effectiveness of the proposed approach.

研究了一种基于扩展卡尔曼滤波（EKF）的自适应积分模型预测控制（MPC）策略，用于装备有移动质量控制（MMC）系统的自主水下航行器（AUV）的深度调节。利用EKF对测量噪声下的不确定系统参数进行实时估计，从而保证连续的在线模型自适应。为了补偿由攻角引起的稳态误差，MPC框架中明确嵌入了一个积分动作，这允许对积分增益进行系统调整，并结合了反增益策略。此外，提出了一种新的自适应反上弦机构，在保持连续积分动力学的同时抑制过多积分积累，从而提高了执行器存在饱和和迟滞时的控制平滑性和鲁棒性。对所提控制器的闭环稳定性进行了严格分析，并从理论上保证了其稳定性。综合仿真和实验结果证明了该方法的有效性。

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引用次数: 0